The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation
A simple, compact, yet powerful robotic winch, called ldquoWinch-Bot,rdquo is presented in this paper. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynami...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers
2010
|
| Online Access: | http://hdl.handle.net/1721.1/53726 https://orcid.org/0000-0003-3155-6223 |
| _version_ | 1811089808553934848 |
|---|---|
| author | Cunningham, Daniel P. Asada, Harry |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Cunningham, Daniel P. Asada, Harry |
| author_sort | Cunningham, Daniel P. |
| collection | MIT |
| description | A simple, compact, yet powerful robotic winch, called ldquoWinch-Bot,rdquo is presented in this paper. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented. |
| first_indexed | 2024-09-23T14:25:00Z |
| format | Article |
| id | mit-1721.1/53726 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:25:00Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/537262022-09-29T09:20:03Z The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation Cunningham, Daniel P. Asada, Harry Massachusetts Institute of Technology. Department of Mechanical Engineering Asada, Harry Cunningham, Daniel P. Asada, Harry A simple, compact, yet powerful robotic winch, called ldquoWinch-Bot,rdquo is presented in this paper. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented. Boeing Corporation 2010-04-16T19:10:01Z 2010-04-16T19:10:01Z 2009-07 2009-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-2789-5 http://hdl.handle.net/1721.1/53726 Cunningham, D., and H.H. Asada. “The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 1844-1850. ©2009 Institute of Electrical and Electronics Engineers. https://orcid.org/0000-0003-3155-6223 en_US http://dx.doi.org/10.1109/ROBOT.2009.5152378 IEEE International Conference on Robotics and Automation, 2009. ICRA '09. Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Cunningham, Daniel P. Asada, Harry The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation |
| title | The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation |
| title_full | The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation |
| title_fullStr | The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation |
| title_full_unstemmed | The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation |
| title_short | The winch-bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation |
| title_sort | winch bot a cable suspended under actuated robot utilizing parametric self excitation |
| url | http://hdl.handle.net/1721.1/53726 https://orcid.org/0000-0003-3155-6223 |
| work_keys_str_mv | AT cunninghamdanielp thewinchbotacablesuspendedunderactuatedrobotutilizingparametricselfexcitation AT asadaharry thewinchbotacablesuspendedunderactuatedrobotutilizingparametricselfexcitation AT cunninghamdanielp winchbotacablesuspendedunderactuatedrobotutilizingparametricselfexcitation AT asadaharry winchbotacablesuspendedunderactuatedrobotutilizingparametricselfexcitation |